A fully integrated system for hardware-accelerated TSDF SLAM with LiDAR sensors (HATSDF SLAM)
Simultaneous Localization and Mapping (SLAM) is one of the fundamental problems in autonomous robotics. Over the years, many approaches to solve this problem for 6D poses and 3D maps based on LiDAR sensors or depth cameras have been proposed. One of the main drawbacks of the solutions found in the l...
Gespeichert in:
| Veröffentlicht in: | Robotics and autonomous systems Jg. 156; S. 104205 |
|---|---|
| Hauptverfasser: | , , , , , , |
| Format: | Journal Article |
| Sprache: | Englisch |
| Veröffentlicht: |
Elsevier B.V
01.10.2022
|
| Schlagworte: | |
| ISSN: | 0921-8890, 1872-793X |
| Online-Zugang: | Volltext |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| Abstract | Simultaneous Localization and Mapping (SLAM) is one of the fundamental problems in autonomous robotics. Over the years, many approaches to solve this problem for 6D poses and 3D maps based on LiDAR sensors or depth cameras have been proposed. One of the main drawbacks of the solutions found in the literature is the required computational power and corresponding energy consumption. In this paper, we present an approach for LiDAR-based SLAM that maintains a global truncated signed distance function (TSDF) to represent the map. It is implemented on a System-On-Chip (SoC) with an integrated FPGA accelerator. The proposed system is able to track the position of state-of-the-art LiDARs in real time, while maintaining a global TSDF map that can be used to create a polygonal map of the environment. We show that our implementation delivers competitive results compared to state-of-the-art algorithms while drastically reducing the power consumption compared to classical CPU or GPU-based methods.
•TSDF-based real time capable 6D SLAM for lidars.•Hardware implementation on a reconfigurable SoC with FPGA.•Fully pipelined implementation to maximize throughput.•Drastically reduced power consumption in comparison to classical implementations on CPUs and GPUs.•Competitive results to state-of-the-art algorithms. |
|---|---|
| AbstractList | Simultaneous Localization and Mapping (SLAM) is one of the fundamental problems in autonomous robotics. Over the years, many approaches to solve this problem for 6D poses and 3D maps based on LiDAR sensors or depth cameras have been proposed. One of the main drawbacks of the solutions found in the literature is the required computational power and corresponding energy consumption. In this paper, we present an approach for LiDAR-based SLAM that maintains a global truncated signed distance function (TSDF) to represent the map. It is implemented on a System-On-Chip (SoC) with an integrated FPGA accelerator. The proposed system is able to track the position of state-of-the-art LiDARs in real time, while maintaining a global TSDF map that can be used to create a polygonal map of the environment. We show that our implementation delivers competitive results compared to state-of-the-art algorithms while drastically reducing the power consumption compared to classical CPU or GPU-based methods.
•TSDF-based real time capable 6D SLAM for lidars.•Hardware implementation on a reconfigurable SoC with FPGA.•Fully pipelined implementation to maximize throughput.•Drastically reduced power consumption in comparison to classical implementations on CPUs and GPUs.•Competitive results to state-of-the-art algorithms. |
| ArticleNumber | 104205 |
| Author | Eisoldt, Marc Tassemeier, Marco Wiemann, Thomas Flottmann, Marcel Porrmann, Mario Gaal, Julian Rothmann, Marc |
| Author_xml | – sequence: 1 givenname: Marc surname: Eisoldt fullname: Eisoldt, Marc email: meisoldt@uos.de organization: Osnabrück University, Autonomous Robotics Group, Osnabrück, Germany – sequence: 2 givenname: Julian surname: Gaal fullname: Gaal, Julian email: gjulian@uos.de organization: Osnabrück University, Autonomous Robotics Group, Osnabrück, Germany – sequence: 3 givenname: Thomas surname: Wiemann fullname: Wiemann, Thomas email: twiemann@uos.de organization: Osnabrück University, Autonomous Robotics Group, Osnabrück, Germany – sequence: 4 givenname: Marcel surname: Flottmann fullname: Flottmann, Marcel email: mflottmann@uos.de organization: Osnabrück University, Computer Engineering Group, Osnabrück, Germany – sequence: 5 givenname: Marc surname: Rothmann fullname: Rothmann, Marc email: mrothmann@uos.de organization: Osnabrück University, Computer Engineering Group, Osnabrück, Germany – sequence: 6 givenname: Marco surname: Tassemeier fullname: Tassemeier, Marco email: mtassemeier@uos.de organization: Osnabrück University, Computer Engineering Group, Osnabrück, Germany – sequence: 7 givenname: Mario surname: Porrmann fullname: Porrmann, Mario email: mporrmann@uos.de organization: Osnabrück University, Computer Engineering Group, Osnabrück, Germany |
| BookMark | eNqFkMFKAzEURYNUsK1-gZssdTE1k0zbzMLF0ForVARbwY2ETPJiU6YTSaKlf-_UERcudPXgXc6Fe3qoU7saEDpPySAl6ehqM_CudHFACaXNJ6NkeIS6KR_TZJyz5w7qkpymCec5OUG9EDaEEDYcsy56KbB5r6o9tnWEVy8jaBz2IcIWG-fxWnq9kx4SqRRU0Oar5XSGl4viHu9sXOOFnRaPOEAdnA_4Yl785Jen6NjIKsDZ9-2jp9nNajJPFg-3d5NikShGWEzMaJwbrmRWap4qTSXNh1nJgCleykyPgGuS5anWZsQNhXJoCKfNIqkAKOeE9RFre5V3IXgw4s3brfR7kRJxMCQ24suQOBgSraGGyn9RykYZraujl7b6h71uWWhmfVjwIigLtQJtPagotLN_8p-qa4RQ |
| CitedBy_id | crossref_primary_10_3389_fsufs_2023_1201994 crossref_primary_10_1109_ACCESS_2023_3268992 crossref_primary_10_1109_LRA_2025_3540383 crossref_primary_10_1142_S1793351X25410053 crossref_primary_10_1016_j_robot_2023_104380 |
| Cites_doi | 10.1016/j.ifacol.2016.07.734 10.1145/2508363.2508374 10.7148/2013-0712 10.1109/ASAP.2019.00-25 10.15607/RSS.2014.X.007 10.1109/FPL.2016.7577365 10.1016/j.ifacol.2019.08.101 10.15607/RSS.2009.V.021 10.3390/s20072068 10.1145/1057432.1057456 10.23919/FPL.2017.8056831 10.1145/3177853 10.1109/TIE.2020.2978722 |
| ContentType | Journal Article |
| Copyright | 2022 Elsevier B.V. |
| Copyright_xml | – notice: 2022 Elsevier B.V. |
| DBID | AAYXX CITATION |
| DOI | 10.1016/j.robot.2022.104205 |
| DatabaseName | CrossRef |
| DatabaseTitle | CrossRef |
| DatabaseTitleList | |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISSN | 1872-793X |
| ExternalDocumentID | 10_1016_j_robot_2022_104205 S0921889022001178 |
| GroupedDBID | --K --M -~X .~1 0R~ 123 1B1 1~. 1~5 29P 4.4 457 4G. 5VS 7-5 71M 8P~ 9JN AABNK AACTN AAEDT AAEDW AAIAV AAIKJ AAKOC AALRI AAOAW AAQFI AAQXK AAXUO AAYFN ABBOA ABFNM ABFRF ABIVO ABJNI ABMAC ABXDB ABYKQ ACDAQ ACGFO ACGFS ACNNM ACRLP ACZNC ADBBV ADEZE ADJOM ADMUD ADTZH AEBSH AECPX AEFWE AEKER AENEX AFFNX AFKWA AFTJW AGHFR AGUBO AGYEJ AHHHB AHJVU AHPGS AHZHX AIALX AIEXJ AIKHN AITUG AJBFU AJOXV ALMA_UNASSIGNED_HOLDINGS AMFUW AMRAJ AOUOD ASPBG AVWKF AXJTR AZFZN BJAXD BKOJK BLXMC CS3 DU5 EBS EFJIC EFLBG EJD EO8 EO9 EP2 EP3 F5P FDB FEDTE FGOYB FIRID FNPLU FYGXN G-2 G-Q GBLVA GBOLZ HLZ HVGLF HZ~ H~9 IHE J1W JJJVA KOM LG9 LY7 M41 MO0 N9A O-L O9- OAUVE OZT P-8 P-9 P2P PC. Q38 R2- RIG ROL RPZ RXW SBC SCC SDF SDG SDP SES SET SEW SPC SPCBC SST SSV SSZ T5K TAE UNMZH WUQ XPP ~G- 9DU AATTM AAXKI AAYWO AAYXX ABWVN ACLOT ACRPL ACVFH ADCNI ADNMO AEIPS AEUPX AFJKZ AFPUW AGQPQ AIGII AIIUN AKBMS AKRWK AKYEP ANKPU APXCP CITATION EFKBS ~HD |
| ID | FETCH-LOGICAL-c303t-f679f8ca4bd81cd2a2954b3e3c8ba4d6e8d0491ddf68f2eb5f082092acee28803 |
| ISICitedReferencesCount | 8 |
| ISICitedReferencesURI | http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000843552500007&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| ISSN | 0921-8890 |
| IngestDate | Sat Nov 29 07:14:38 EST 2025 Tue Nov 18 22:44:26 EST 2025 Fri Feb 23 02:38:17 EST 2024 |
| IsPeerReviewed | true |
| IsScholarly | true |
| Keywords | FPGA programming SLAM Hardware acceleration 3D mapping |
| Language | English |
| LinkModel | OpenURL |
| MergedId | FETCHMERGED-LOGICAL-c303t-f679f8ca4bd81cd2a2954b3e3c8ba4d6e8d0491ddf68f2eb5f082092acee28803 |
| ParticipantIDs | crossref_primary_10_1016_j_robot_2022_104205 crossref_citationtrail_10_1016_j_robot_2022_104205 elsevier_sciencedirect_doi_10_1016_j_robot_2022_104205 |
| PublicationCentury | 2000 |
| PublicationDate | October 2022 2022-10-00 |
| PublicationDateYYYYMMDD | 2022-10-01 |
| PublicationDate_xml | – month: 10 year: 2022 text: October 2022 |
| PublicationDecade | 2020 |
| PublicationTitle | Robotics and autonomous systems |
| PublicationYear | 2022 |
| Publisher | Elsevier B.V |
| Publisher_xml | – name: Elsevier B.V |
| References | Shan, Englot (b12) 2018 A. Segal, D. Haehnel, S. Thrun, Generalized-icp., in: Robotics: Science and Systems, Vol. 2, (4) 2009, p. 435. J. Zhang, S. Singh, LOAM: Lidar Odometry and Mapping in Real-time, in: Robotics: Science and Systems, Vol. 2, (9) 2014. Törtei, Piat, Devy (b20) 2014 T. Wiemann, K. Lingemann, J. Hertzberg, Automatic Map Creation for Environment Modelling in Robotic Simulators, in: Proceedings of the European Conference on Modelling and Simulation, ECMS, 2013. Nießner, Zollhöfer, Izadi, Stamminger (b16) 2013; 32 Flottmann, Eisoldt, Gaal, Rothmann, Tassemeier, Wiemann, Porrmann (b4) 2021 Low (b9) 2004 Holz, Behnke (b10) 2014 Gautier, Shearer, Matai, Richmond, Meng, Kastner (b17) 2014 Wiemann, Igelbrink, Pütz, Hertzberg (b25) 2019; 52 Izadi, Newcombe, Kim, Hilliges, Molyneaux, Hodges, Kohli, Shotton, Davison, Fitzgibbon (b14) 2011 Boikos, Bouganis (b23) 2019 O. Sorkine, D. Cohen-Or, Y. Lipman, M. Alexa, C. Rössl, H.-P. Seidel, Laplacian surface editing, in: Proceedings of the 2004 Eurographics/ACM SIGGRAPH Symposium on Geometry Processing, 2004, pp. 175–184. Besl, McKay (b7) 1992 Canelhas, Stoyanov, Lilienthal (b24) 2013 K. Boikos, C. Bouganis, A high-performance system-on-chip architecture for direct tracking for SLAM, in: 2017 27th International Conference on Field Programmable Logic and Applications, FPL, 2017, pp. 1–7. Eisoldt, Flottmann, Gaal, Buschermöhle, Hinderink, Hillmann, Nitschmann, Hoffmann, Wiemann, Porrmann (b3) 2021 Q. Gautier, A. Althoff, R. Kastner, FPGA Architectures for Real-time Dense SLAM, in: 2019 IEEE 30th International Conference on Application-Specific Systems, Architectures and Processors, Vol. 2160-052X, ASAP, 2019, pp. 83–90. Kosuge, Yamamoto, Akamine, Oshima (b18) 2021; 68 T. Whelan, M. Kaess, M. Fallon, H. Johannsson, J. Leonard, J. McDonald, Kintinuous: Spatially Extended KinectFusion, in: RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, Sydney, Australia, 2012. Debeunne, Vivet (b2) 2020; 20 Saputra, Markham, Trigoni (b1) 2018; 51 Wiemann, Mitschke, Mock, Hertzberg (b26) 2018 Pütz, Wiemann, Sprickerhof, Hertzberg (b5) 2016; 49 Lorensen, Cline (b13) 1987 K. Boikos, C. Bouganis, Semi-dense SLAM on an FPGA SoC, in: 2016 26th International Conference on Field Programmable Logic and Applications, FPL, 2016, pp. 1–4. Gautier (10.1016/j.robot.2022.104205_b17) 2014 Eisoldt (10.1016/j.robot.2022.104205_b3) 2021 Shan (10.1016/j.robot.2022.104205_b12) 2018 Flottmann (10.1016/j.robot.2022.104205_b4) 2021 10.1016/j.robot.2022.104205_b19 Wiemann (10.1016/j.robot.2022.104205_b25) 2019; 52 10.1016/j.robot.2022.104205_b15 Debeunne (10.1016/j.robot.2022.104205_b2) 2020; 20 Besl (10.1016/j.robot.2022.104205_b7) 1992 Low (10.1016/j.robot.2022.104205_b9) 2004 10.1016/j.robot.2022.104205_b11 Boikos (10.1016/j.robot.2022.104205_b23) 2019 Pütz (10.1016/j.robot.2022.104205_b5) 2016; 49 Kosuge (10.1016/j.robot.2022.104205_b18) 2021; 68 10.1016/j.robot.2022.104205_b27 Saputra (10.1016/j.robot.2022.104205_b1) 2018; 51 10.1016/j.robot.2022.104205_b22 Nießner (10.1016/j.robot.2022.104205_b16) 2013; 32 Törtei (10.1016/j.robot.2022.104205_b20) 2014 10.1016/j.robot.2022.104205_b21 Wiemann (10.1016/j.robot.2022.104205_b26) 2018 10.1016/j.robot.2022.104205_b8 10.1016/j.robot.2022.104205_b6 Lorensen (10.1016/j.robot.2022.104205_b13) 1987 Izadi (10.1016/j.robot.2022.104205_b14) 2011 Holz (10.1016/j.robot.2022.104205_b10) 2014 Canelhas (10.1016/j.robot.2022.104205_b24) 2013 |
| References_xml | – reference: A. Segal, D. Haehnel, S. Thrun, Generalized-icp., in: Robotics: Science and Systems, Vol. 2, (4) 2009, p. 435. – volume: 68 start-page: 3567 year: 2021 end-page: 3576 ident: b18 article-title: An SoC-FPGA-based iterative-closest-point accelerator enabling faster picking robots publication-title: IEEE Trans. Ind. Electron. – start-page: 326 year: 2014 end-page: 329 ident: b17 article-title: Real-time 3D reconstruction for FPGAs: A case study for evaluating the performance, area, and programmability trade-offs of the Altera openCL SDK publication-title: FPT Conference – year: 2014 ident: b20 article-title: FPGA design and implementation of a matrix multiplier based accelerator for 3D EKF SLAM publication-title: 2014 International Conference on Reconfigurable Computing and FPGAs – volume: 49 start-page: 212 year: 2016 end-page: 217 ident: b5 article-title: 3D navigation mesh generation for path planning in uneven terrain publication-title: IFAC-PapersOnLine – start-page: 3671 year: 2013 end-page: 3676 ident: b24 article-title: SDF tracker: A parallel algorithm for on-line pose estimation and scene reconstruction from depth images publication-title: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems – volume: 20 start-page: 2068 year: 2020 ident: b2 article-title: A review of visual-LiDAR fusion based simultaneous localization and mapping publication-title: Sensors – reference: K. Boikos, C. Bouganis, A high-performance system-on-chip architecture for direct tracking for SLAM, in: 2017 27th International Conference on Field Programmable Logic and Applications, FPL, 2017, pp. 1–7. – start-page: 278 year: 2018 end-page: 281 ident: b26 article-title: Surface reconstruction from arbitrarily large point clouds publication-title: 2018 Second IEEE International Conference on Robotic Computing – volume: 52 start-page: 403 year: 2019 end-page: 408 ident: b25 article-title: A file structure and reference data set for high resolution hyperspectral 3D point clouds publication-title: IFAC-PapersOnLine – start-page: 586 year: 1992 end-page: 606 ident: b7 article-title: Method for registration of 3-D shapes publication-title: Sensor Fusion IV: Control Paradigms and Data Structures, Vol. 1611 – reference: T. Whelan, M. Kaess, M. Fallon, H. Johannsson, J. Leonard, J. McDonald, Kintinuous: Spatially Extended KinectFusion, in: RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, Sydney, Australia, 2012. – reference: T. Wiemann, K. Lingemann, J. Hertzberg, Automatic Map Creation for Environment Modelling in Robotic Simulators, in: Proceedings of the European Conference on Modelling and Simulation, ECMS, 2013. – reference: K. Boikos, C. Bouganis, Semi-dense SLAM on an FPGA SoC, in: 2016 26th International Conference on Field Programmable Logic and Applications, FPL, 2016, pp. 1–4. – year: 2019 ident: b23 article-title: A scalable FPGA-based architecture for depth estimation in SLAM publication-title: ARC – year: 1987 ident: b13 article-title: Marching cubes: A high resolution 3D surface construction algorithm publication-title: ACM SIGGRAPH ’87 – reference: O. Sorkine, D. Cohen-Or, Y. Lipman, M. Alexa, C. Rössl, H.-P. Seidel, Laplacian surface editing, in: Proceedings of the 2004 Eurographics/ACM SIGGRAPH Symposium on Geometry Processing, 2004, pp. 175–184. – reference: Q. Gautier, A. Althoff, R. Kastner, FPGA Architectures for Real-time Dense SLAM, in: 2019 IEEE 30th International Conference on Application-Specific Systems, Architectures and Processors, Vol. 2160-052X, ASAP, 2019, pp. 83–90. – start-page: 1 year: 2021 end-page: 6 ident: b4 article-title: Energy-efficient FPGA-accelerated LiDAR-based SLAM for embedded robotics publication-title: 2021 International Conference on Field-Programmable Technology – reference: J. Zhang, S. Singh, LOAM: Lidar Odometry and Mapping in Real-time, in: Robotics: Science and Systems, Vol. 2, (9) 2014. – volume: 32 start-page: 1 year: 2013 end-page: 11 ident: b16 article-title: Real-time 3D reconstruction at scale using voxel hashing publication-title: ACM Trans. Graphics (ToG) – start-page: 4758 year: 2018 end-page: 4765 ident: b12 article-title: LeGO-LOAM: Lightweight and ground-optimized lidar odometry and mapping on variable terrain publication-title: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems – year: 2011 ident: b14 article-title: KinectFusion: Real-time dynamic 3D surface reconstruction and interaction publication-title: ACM SIGGRAPH 2011 Talks – start-page: 1 year: 2004 end-page: 3 ident: b9 article-title: Linear least-squares optimization for point-to-plane icp surface registration, Vol. 4 – start-page: 1 year: 2021 end-page: 7 ident: b3 article-title: HATSDF SLAM–hardware-accelerated TSDF SLAM for reconfigurable SoCs publication-title: 2021 European Conference on Mobile Robots – volume: 51 start-page: 1 year: 2018 end-page: 36 ident: b1 article-title: Visual SLAM and structure from motion in dynamic environments: A survey publication-title: ACM Comput. Surv. – start-page: 1 year: 2014 end-page: 7 ident: b10 article-title: Registration of non-uniform density 3D point clouds using approximate surface reconstruction publication-title: ISR/Robotik 2014; 41st International Symposium on Robotics – volume: 49 start-page: 212 issue: 15 year: 2016 ident: 10.1016/j.robot.2022.104205_b5 article-title: 3D navigation mesh generation for path planning in uneven terrain publication-title: IFAC-PapersOnLine doi: 10.1016/j.ifacol.2016.07.734 – start-page: 278 year: 2018 ident: 10.1016/j.robot.2022.104205_b26 article-title: Surface reconstruction from arbitrarily large point clouds – volume: 32 start-page: 1 issue: 6 year: 2013 ident: 10.1016/j.robot.2022.104205_b16 article-title: Real-time 3D reconstruction at scale using voxel hashing publication-title: ACM Trans. Graphics (ToG) doi: 10.1145/2508363.2508374 – ident: 10.1016/j.robot.2022.104205_b6 doi: 10.7148/2013-0712 – year: 1987 ident: 10.1016/j.robot.2022.104205_b13 article-title: Marching cubes: A high resolution 3D surface construction algorithm – start-page: 1 year: 2021 ident: 10.1016/j.robot.2022.104205_b4 article-title: Energy-efficient FPGA-accelerated LiDAR-based SLAM for embedded robotics – start-page: 3671 year: 2013 ident: 10.1016/j.robot.2022.104205_b24 article-title: SDF tracker: A parallel algorithm for on-line pose estimation and scene reconstruction from depth images – ident: 10.1016/j.robot.2022.104205_b19 doi: 10.1109/ASAP.2019.00-25 – ident: 10.1016/j.robot.2022.104205_b11 doi: 10.15607/RSS.2014.X.007 – start-page: 1 year: 2021 ident: 10.1016/j.robot.2022.104205_b3 article-title: HATSDF SLAM–hardware-accelerated TSDF SLAM for reconfigurable SoCs – ident: 10.1016/j.robot.2022.104205_b21 doi: 10.1109/FPL.2016.7577365 – volume: 52 start-page: 403 issue: 8 year: 2019 ident: 10.1016/j.robot.2022.104205_b25 article-title: A file structure and reference data set for high resolution hyperspectral 3D point clouds publication-title: IFAC-PapersOnLine doi: 10.1016/j.ifacol.2019.08.101 – start-page: 1 year: 2004 ident: 10.1016/j.robot.2022.104205_b9 – ident: 10.1016/j.robot.2022.104205_b15 – year: 2014 ident: 10.1016/j.robot.2022.104205_b20 article-title: FPGA design and implementation of a matrix multiplier based accelerator for 3D EKF SLAM – start-page: 586 year: 1992 ident: 10.1016/j.robot.2022.104205_b7 article-title: Method for registration of 3-D shapes – year: 2011 ident: 10.1016/j.robot.2022.104205_b14 article-title: KinectFusion: Real-time dynamic 3D surface reconstruction and interaction – start-page: 4758 year: 2018 ident: 10.1016/j.robot.2022.104205_b12 article-title: LeGO-LOAM: Lightweight and ground-optimized lidar odometry and mapping on variable terrain – ident: 10.1016/j.robot.2022.104205_b8 doi: 10.15607/RSS.2009.V.021 – volume: 20 start-page: 2068 issue: 7 year: 2020 ident: 10.1016/j.robot.2022.104205_b2 article-title: A review of visual-LiDAR fusion based simultaneous localization and mapping publication-title: Sensors doi: 10.3390/s20072068 – ident: 10.1016/j.robot.2022.104205_b27 doi: 10.1145/1057432.1057456 – year: 2019 ident: 10.1016/j.robot.2022.104205_b23 article-title: A scalable FPGA-based architecture for depth estimation in SLAM – start-page: 326 year: 2014 ident: 10.1016/j.robot.2022.104205_b17 article-title: Real-time 3D reconstruction for FPGAs: A case study for evaluating the performance, area, and programmability trade-offs of the Altera openCL SDK – ident: 10.1016/j.robot.2022.104205_b22 doi: 10.23919/FPL.2017.8056831 – volume: 51 start-page: 1 issue: 2 year: 2018 ident: 10.1016/j.robot.2022.104205_b1 article-title: Visual SLAM and structure from motion in dynamic environments: A survey publication-title: ACM Comput. Surv. doi: 10.1145/3177853 – volume: 68 start-page: 3567 issue: 4 year: 2021 ident: 10.1016/j.robot.2022.104205_b18 article-title: An SoC-FPGA-based iterative-closest-point accelerator enabling faster picking robots publication-title: IEEE Trans. Ind. Electron. doi: 10.1109/TIE.2020.2978722 – start-page: 1 year: 2014 ident: 10.1016/j.robot.2022.104205_b10 article-title: Registration of non-uniform density 3D point clouds using approximate surface reconstruction |
| SSID | ssj0003573 |
| Score | 2.4183533 |
| Snippet | Simultaneous Localization and Mapping (SLAM) is one of the fundamental problems in autonomous robotics. Over the years, many approaches to solve this problem... |
| SourceID | crossref elsevier |
| SourceType | Enrichment Source Index Database Publisher |
| StartPage | 104205 |
| SubjectTerms | 3D mapping FPGA programming Hardware acceleration SLAM |
| Title | A fully integrated system for hardware-accelerated TSDF SLAM with LiDAR sensors (HATSDF SLAM) |
| URI | https://dx.doi.org/10.1016/j.robot.2022.104205 |
| Volume | 156 |
| WOSCitedRecordID | wos000843552500007&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| journalDatabaseRights | – providerCode: PRVESC databaseName: ScienceDirect Freedom Collection - Elsevier customDbUrl: eissn: 1872-793X dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0003573 issn: 0921-8890 databaseCode: AIEXJ dateStart: 19950201 isFulltext: true titleUrlDefault: https://www.sciencedirect.com providerName: Elsevier |
| link | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwtV1Lb9NAEF6FlgMcEE-1vLQHDqDgKLEde320aKuCSoVoELkga59SquBUiVvKb-BPM-N9xNAqogculuVdT2zPp92Zycw3hLwyxTDTIlWRZBocFC14xFMJWAZTxCAfeC5N22wiPz5m02nxqdf75WthLuZ5XbPLy-Lsv6oaroGysXT2BuoOQuECnIPS4Qhqh-M_Kb7sY0j955oIQjm65jajEIusfvCljriUsOPY8cnJ3kH_5Kj8aMOyR7O98nN_BQ4uduIBE_SwDDN85CBweotFIHrm5w2WSGBS7apDhI72-gzeWfniIBmSfjif-yLtNUq_zvR317q5k77UYmzRNH4I5bh0fxe0AH_Xp7-F6GM8ihiznULDQjzuLqXgJ8ZtRfbVVd4GHE4HS3zHAcofrGf_yan9114XMhB9cttp1QqpUEhlhdwi23E-LmCV3y7f708_hI09GduEBf_snsSqTRe88izXGzod42Vyn9xzXgctLVoekJ6uH5K7HS7KR-RbSVvc0DVuqNUiBdzQ63BDERUUUUERN7TFDXW4oa8tatrxN4_Jl4P9ybvDyPXeiCQYNU1ksrwwTPJUKDaSKub4f7BIdCKZ4KnKNFPgW46UMhkzsRZjg7ZkEXMwumLYE5InZKte1HqH0GIo9ShVQ2OQJDrNhJAJE1okwmg9zIpdEvsPVUlHTI_9UebVBiXtkrfhpjPLy7J5euY1UDnT0pqMFWBq041Pb_Y7z8idNdyfk61mea5fkNvyopmtli8doH4Dd-CZjw |
| linkProvider | Elsevier |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=A+fully+integrated+system+for+hardware-accelerated+TSDF+SLAM+with+LiDAR+sensors+%28HATSDF+SLAM%29&rft.jtitle=Robotics+and+autonomous+systems&rft.au=Eisoldt%2C+Marc&rft.au=Gaal%2C+Julian&rft.au=Wiemann%2C+Thomas&rft.au=Flottmann%2C+Marcel&rft.date=2022-10-01&rft.issn=0921-8890&rft.volume=156&rft.spage=104205&rft_id=info:doi/10.1016%2Fj.robot.2022.104205&rft.externalDBID=n%2Fa&rft.externalDocID=10_1016_j_robot_2022_104205 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0921-8890&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0921-8890&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0921-8890&client=summon |